The authors present a robust road detection and tracking method using multiple vanishing points and the condensation filter. The authors represent the road using an extended hyperbola model with an added non-linear term to handle transitions between straight and curved road segments. The parameters of the road model are estimated using multiple vanishing points located in road segments. A vanishing line is then determined using a robust iterative curve fitting technique to recover parameters of the road model. These are then fed into a robust condensation trackerto track the road. The tracker is able to deal with difficult road conditions. Experiments using real road videos demonstrate the suitability of the approach for real-time applications. A comparison with the Kalman filtering technique demonstrates the robustness of this approach.


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    Title :

    An extended hyperbola model for road tracking for video-based personal navigation


    Additional title:

    Ein erweitertes Hyperbel-Modell zur Straßenverlaufsverfolgung für die videobasierte persönliche Navigation


    Contributors:
    Bai, Li (author) / Wang, Yan (author) / Fairhurst, Michael (author)


    Publication date :

    2008


    Size :

    14 Seiten, 8 Bilder, 1 Tabelle, 35 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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